Senator Carr says Ms Taylor is expected to be released from custody at around 9pm AEST on Monday, three-and-a-half weeks after she and three other International Criminal Court (ICC) officials were detained in the Libyan city of Zintan.

Ms Taylor will then be taken to Tripoli to board a flight bound for Europe.

She is expected to be reunited with her family - husband Geoff and their two-year-old daughter Yasmina - in The Hague on Tuesday.

"I'll breathe easy when it's fulfilled and she's winging her way on the promised Italian military jet to her home in The Hague," Senator Carr told Sky News.

"So far it's very good news, a great relief."

Senator Carr said Ms Taylor's release came as a result of "fruitful" talks between Libyan authorities and the ICC.

But Senator Carr has also lobbied hard for her release, even visiting the Libyan capital Tripoli last month to press her case.